Authors
Reid Simmons, David Apfelbaum
Publication date
1998/10/17
Conference
Proceedings. 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications (Cat. No. 98CH36190)
Volume
3
Pages
1931-1937
Publisher
IEEE
Description
Robot systems must achieve high level goals while remaining reactive to contingencies and new opportunities. This typically requires robot systems to coordinate concurrent activities, monitor the environment, and deal with exceptions. We have developed a new language to support such task-level control. The language, TDL, is an extension of C++ that provides syntactic support for task decomposition, synchronization, execution monitoring, and exception handling. A compiler transforms TDL into pure C++ code that utilizes a platform-independent task management library. This paper introduces TDL, describes the task tree representation that underlies the language, and presents some aspects of its implementation and use in an autonomous mobile robot.
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R Simmons, D Apfelbaum - Proceedings. 1998 IEEE/RSJ International Conference …, 1998